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#include <sensor_msgs/point_cloud_conversion.h> sensor_msgs::PointCloud2 point_cloud2; sensor_msgs::PointCloud point_cloud; sensor_msgs::convertPointCloudToPointCloud2(point_cloud, point_cloud2); sensor_msgs::convertPointCloud2ToPointCloud(point_cloud2, point_cloud); |
Converting sensor_msgs::PCLPointCloud2 to sensor_msgs::PointCloud and reverse Read More »
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#include <pcl/conversions.h> |
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pcl::PCLPointCloud2 point_cloud2; pcl::PointCloud<pcl::PointXYZ> point_cloud; pcl::fromPCLPointCloud2( point_cloud2, point_cloud); pcl::toPCLPointCloud2(point_cloud, point_cloud2); |
more about pcl point cloud and conversion
Converting pcl::PCLPointCloud2 to pcl::PointCloud and reverse Read More »
For this work, first I loaded the RRBot in Gazebo and launched Its joints controller, then I sent a periodic signal to the robot such that the laser scanner mounted on the robot swings. In the following, I assembled the incoming laser scans with the transformation from tf and created PCL point cloud. Install the necessary
Assembling Laser scans into PCL point cloud Using Gazebo and ROS Read More »
In other tutorials, I showed how to get access to the joystick and how to code with that. In this tutorial, I’m going to show you how to do that without writing any line of code. First, install the required packages:
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sudo apt-get install ros-noetic-teleop-twist-joy ros-noetic-joy ros-noetic-joy-teleop |
Now call the following
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rosrun joy joy_node dev:=/dev/input/js0 |
This will publish the topic “/joy_node” which
Control your robot with a joystick in ROS Read More »
First install the liburdfdom-tools
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sudo apt-get install liburdfdom-tools |
Then
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urdf_to_graphiz <robot_model.urdf> |
How to create hierarchical graph from your robot model (URDF) Read More »
Have you ever wondered why the selfie that you are taking with your phone is so bad while when you taking a photo a decent Nikon or Canon DSLR you get a nice portrait? This happens due to the size of the sensor and focal length. Since the sensor in your cell-phone is very small
Effect of focal length on image Read More »
First, install the necessary package:
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sudo apt-get install ros-indigo-joy |
make sure your joystick is working:
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sudo jstest /dev/input/js0 |
also, make sure your controller has correct permissions:
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ls -l /dev/input/js0 |
The permission on the last column must be rw, if it “–” like this:
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crw-rw-r--+ 1 root root 13, 0 May 18 12:12 /dev/input/js0 |
then correct the permission:
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sudo chmod a+rw /dev/input/js0 |
run the Joy node and roscore:
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roscore rosparam set joy_node/dev "/dev/input/js0" rosrun joy joy_node |
The joystick data are being published under
Controlling your robot with joystick and reading data from it Read More »
In my previous tutorial I showed you how to calibrate a camera with ROS. In this tutorial, I’m gonna show you how to rectify the images from coming from your camera. First, open your text editor and paste the following text into it:
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<!-- Example of run: roslaunch usb_cam_stream_publisher.launch video_device:=/dev/video0 image_width:=640 image_height:=480 --> <launch> <arg name="video_device" default="/dev/video0" /> <arg name="image_width" default="640" /> <arg name="image_height" default="480" /> <arg name="image_topic_name" default="/usb_cam/image_raw" /> <arg name="camera_info_topic_name" default="/usb_cam/camera_info" /> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > <param name="video_device" value="$(arg video_device)" /> <param name="image_width" value="$(arg image_width)" /> <param name="image_height" value="$(arg image_height)"/> <param name="pixel_format" value="mjpeg" /> <param name="io_method" value="mmap"/> <!-- update these line accroding to your setting, here are some examples:--> <!-- <param name="camera_info_url" value="package://your_cameras/info/camera.yaml"/> --> <!-- <param name="camera_info_url" value="file:///home/behnam/.ros/camera_info/head_camera.yaml"/> --> <param name="camera_info_url" value="file://${ROS_HOME}/camera_info/head_camera.yaml"/> <remap from="/usb_cam/camera_info" to="$(arg camera_info_topic_name)"/> <remap from="/usb_cam/image_raw" to="$(arg image_topic_name)"/> </node> </launch> |
make the necessary changes and save it under usb_cam_stream_publisher.launch Now run it:
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roslaunch usb_cam_stream_publisher.launch |
Open
How to use a calibrated camera in ROS Read More »
In this tutorial, I’m gonna show you how to create hybrid images . Basically, you need to filter your first image with high pass filter and the second image with a low pass filter and then add theses two images. The following code shows how to do that. The full code is available at my GitHub.
Creating Hybrid Image with Matlab Read More »
